CN211403487U - Calibration equipment for RGB-D module - Google Patents

Calibration equipment for RGB-D module Download PDF

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CN211403487U
CN211403487U CN201921498035.7U CN201921498035U CN211403487U CN 211403487 U CN211403487 U CN 211403487U CN 201921498035 U CN201921498035 U CN 201921498035U CN 211403487 U CN211403487 U CN 211403487U
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rgb
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calibration
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谢永明
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Hong Kong Shinning Cloud Technology Co ltd
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Hong Kong Shinning Cloud Technology Co ltd
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Abstract

The utility model provides a calibration device of RGB-D module, which comprises a clamp for positioning the RGB-D module, at least 4 calibration modules, a host and a display end; the calibration equipment of the RGB-D module also comprises a driving mechanism for driving the clamp and at least 4 calibration modules to move relatively; the host acquires the positions of at least 4 calibration modules and shot images of the RGB-D module to realize calibration of the RGB-D module; the display end is in communication connection with the host and displays the calibration information. Compared with the prior art, the utility model provides an including 4 at least mark modules in the calibration equipment of RGB-D module, mark the relative anchor clamps of module and remove through 4 at least mark of actuating mechanism drive to make by the waiting of anchor clamps centre gripping to calibrate the RGB-D module and can acquire the image that accords with the calibration requirement, with the calibration method who realizes aforementioned RGB-D module, and then improve the calibration accuracy of RGB-D module, and then optimize the shooting effect of RGB-D camera.

Description

Calibration equipment for RGB-D module
Technical Field
The utility model relates to a photographic technical field, in particular to parameter calibration equipment of module of making a video recording with degree of depth shooting function.
Background
With the development of hardware computing, the shooting function of mobile terminals (such as mobile phones, tablet computers, and the like) is also more and more abundant and powerful, and at present, most mobile terminals are equipped with cameras with higher performance, and especially, the appearance of multiple RGB-D modules such as double-shot, triple-shot, structured light + RGB and ToF + RGB on the mobile terminals provides possibility for users to improve shooting effect and experience and other extended applications.
The traditional camera calibration method is generally based on 2D planar target camera calibration (zhangzhengyou calibration method). The camera is used for shooting the same plane calibration plate at more than two different machine positions, the camera and the 2D plane calibration plate can move freely, and the internal parameters of the camera are guaranteed to be unchanged all the time, so that the optimal solution of the parameters of the camera is calculated through linear analysis, the calculation process is carried out, the lens distortion parameters are considered, and the internal and external parameters of the measured camera can be solved. However, for the calibration of the depth image, the traditional camera calibration method of the 2D planar target is difficult to achieve effective depth calibration, which also limits the application development of mobile terminals with RGB-D modules on the market, and further limits the rapid development of RGB-D cameras in the consumer-level market.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a calibration equipment of RGB-D module for realize the parameter calibration of RGB-D module, in order to optimize the shooting effect of RGB-D camera.
In order to achieve the above object, the present invention provides a calibration apparatus for RGB-D module, which comprises a fixture for positioning the RGB-D module, at least 4 calibration modules, a host and a display end; the calibration equipment of the RGB-D module further comprises a driving mechanism for driving the clamp and at least 4 calibration modules to move relatively; the host acquires the positions of at least 4 calibration modules and shot images of the RGB-D modules so as to realize calibration of the RGB-D modules; and the display end is in communication connection with the host and displays the calibration information.
Compared with the prior art, the utility model provides an including 4 at least mark modules in the calibration equipment of RGB-D module, mark the relative anchor clamps of module and remove through 4 at least mark of actuating mechanism drive to make by the waiting of anchor clamps centre gripping to calibrate the RGB-D module and can acquire the image that accords with the calibration requirement, with the calibration method who realizes aforementioned RGB-D module, and then improve the calibration accuracy of RGB-D module, and then optimize the shooting effect of RGB-D camera.
The method is used for realizing parameter calibration of the RGB-D module so as to optimize the shooting effect of the RGB-D camera.
Preferably, at least three of the calibration modules can rotate within a certain angle range along the XY direction.
Preferably, the driving mechanism comprises a first power mechanism for driving the clamp to move and a second power mechanism for driving at least 4 calibration modules to move.
Further, the calibration equipment of the RGB-D module comprises a bottom frame and a movable frame capable of moving up and down relative to the bottom frame; the anchor clamps set up in the upside of chassis, at least 4 mark the module set up in the downside of adjustable shelf and under the drive of adjustable shelf can relatively anchor clamps reciprocate.
Preferably, the second power mechanism for driving at least 4 of the calibration modules to move includes a vertical driving unit for driving the movable frame to move up and down relative to the bottom frame, and a rotation driving unit for respectively driving a corresponding one of the calibration modules to rotate in the plane direction.
Preferably, the calibration equipment of the RGB-D module further includes a housing, and the bottom frame and the movable frame are disposed in the housing; and a taking and placing port for taking and placing the RGB-D module is formed in the side surface of the shell.
Specifically, the calibration equipment for the RGB-D module further comprises a pick-and-place frame for picking and placing the RGB-D module, wherein the pick-and-place frame moves between the pick-and-place opening and the fixture so as to obtain the RGB-D module from the pick-and-place opening and move the RGB-D module to the fixture, or take the RGB-D module out of the fixture and move the RGB-D module to the pick-and-place opening.
Preferably, the RGB-D module is a mobile communication terminal having a shooting function.
Drawings
FIG. 1 is a flow chart of a calibration method for RGB-D modules.
Fig. 2 is a schematic structural diagram of the RGB-D module calibration apparatus of the present invention.
Fig. 3 is a schematic diagram of the internal structure of the RGB-D module calibration apparatus of the present invention.
Fig. 4 is a side view of the internal structure of the RGB-D module calibration apparatus of the present invention.
Fig. 5 is a schematic view of the calibration process of the RGB-D module calibration apparatus of the present invention.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following description is given in conjunction with the embodiments and the accompanying drawings.
For the convenience of describing the calibration equipment of the RGB-D module provided by the present invention, the calibration method of the RGB-D module is described in detail in advance.
As shown in fig. 1, the calibration method of the RGB-D module specifically includes the steps of: s1, shooting and collecting an RGB image and a Depth image by an RGB-D module to calibrate internal parameters and external parameters of the RGB-D module; s2, shooting and collecting an RGB-D image by the RGB-D module, and correcting parameters of the RGB-D module according to N different collection results; and S3, fusing the pixel level parameters of the RGB module and the Depth module to realize the spatial calibration of the RGB-D module. More specifically:
step S1: the RGB-D module shoots and collects RGB images and Depth images to calibrate internal parameters and external parameters of the RGB-D module. Specifically, the RGB-D module respectively acquires at least three frames of RGB images and at least three frames of Depth images, and calculates to obtain an internal reference matrix K of the RGB-D moduleRGBAnd KDepthAn extrinsic rotation matrix R and a translational vector T.
It can be understood that the RGB-D module includes an RGB module and a Depth module, wherein the RGB image taken by the RGB module is a 2D image not containing Depth information, and the Depth image taken by the Depth module contains Depth information. And the RGB-D image with the Depth information is obtained by calculating through fusing the RGB image and the Depth image respectively shot by the RGB module and the Depth module.
In step S1, the RGB module captures an RGB image without Depth information, the Depth module captures a Depth image with Depth information, and the internal parameters and the external parameters of the RGB-D module are acquired and calibrated based on at least three RGB images and at least three Depth images.
Wherein, the internal parameters of the RGB-D module specifically comprise an internal parameter matrix K of the RGB moduleRGBAnd a parameter matrix K of the Depth moduleDepth. The internal reference matrix of the camera module can be obtained by calculation through a Zhangyingyou calibration algorithm, specifically, program codes for calculating Zhangyingyou parameters can be written, and if the calculating program codes for the Zhangyingyou calibration algorithm are arranged in the camera module, the calculating program codes can also be directly called for calculation. Since it is common knowledge in the art to utilize the intrinsic parameters of the image capturing camera module based on the Zhang friend calibration algorithm, no additional description is provided here.
For the RGB-D model, the extrinsic parameters include an extrinsic rotation matrix R and a translational vector T, which may be based on the RGB model extrinsic rotation matrix RRGBAnd translation vector TRGBExternal parameter rotation matrix R of Depth moduleDepthAnd translation vector TDepthAnd (6) performing calculation. The calculation method of the external parameters of the RGB-D module specifically comprises the following steps: performing single-point traversal calculation on each point P in the FoV, wherein P is a coordinate of a certain point in a world space coordinate system, and rotating a matrix R under the coordinates of an RGB module and a Depth moduleRGBAnd RDepthAnd translation vector T of RGB module and Depth moduleRGBAnd TDepthAnd obtaining the coordinates of the P points under the RGB module and the Depth module respectively as follows:
TRGB＝RRGB*P+TRGB，PDepth＝RDepth*P+TDepth；
wherein P isRGBIs the coordinate of point P in the RGB image, PDepthCoordinates in the P point Depth image; and (3) obtaining an external reference rotation matrix and a translation vector by coordinate calculation:
Figure BDA0002195905530000041
T＝TRGB-RTDepth。
it can be appreciated that the parameters of the camera are currently usually calibrated with 2D planar targets. In the internal parameters and the external parameters of the RGB-D module calibrated based on the calibration method, the Depth related parameters of the Depth module cannot be accurately calculated, so that the imaging effect is influenced because the RGB information and the Depth information in the RGB-D image shot by the RGB-D module are not aligned. Therefore, after step S1, the Depth-related parameters of the Depth module need to be corrected to improve the imaging effect.
Step S2: the RGB-D module shoots and collects RGB-D images and corrects parameters of the RGB-D module according to N different collection results. Specifically, the RGB-D module captures an RGB-D image, and determines whether the RGB module and the Depth module are aligned according to N different capture results, if so, step S3 is performed, and if not, the translation vector T is adjusted.
The following are exemplary: the RGB module and the Depth module shoot N different actual scenes, and based on the internal parameters and the external parameters calibrated in the step S1, the images are fused to obtain N RGB-D images with Depth information; judging the alignment condition of RGB information and Depth information in the N RGB-D images, and further judging whether the RGB module and the Depth module are aligned; if so, the process proceeds to step S3, otherwise, the translation vector T is fine-tuned until the RGB module and the Depth module are aligned.
The specific steps for adjusting the translation vector T are: shooting N different RGB-D images according to the RGB-D module, and collecting translation vector micro-values
Figure BDA0002195905530000051
Solving for
Figure BDA0002195905530000052
Finally adjusting the translation vector to be T ═ T + Ttuning(ii) a And when the RGB pixels and Depth pixels in the RGB-D image shot by the RGB-D module are not aligned, the RGB module and the Depth module are aligned by finely adjusting the translation vector to be T.
In step S2, a plurality of actual scenes are captured by the primarily calibrated RGB-D camera, and an RGB-D image with depth information is obtained by fusing the images based on the primarily calibrated internal and external parameters. Whether the RGB module and the Depth module are aligned or not is judged through the actual shooting effect of the RGB-D module, if not, the leveling vector T is adjusted until the RGB module and the Depth module realize pixel-level alignment. It can be understood that, the judgment of whether the RGB information and the Depth information in the RGB-D image are aligned may be made by human eyes, or may be made by comparing the calibration program with the standard image.
And S3, fusing the pixel level parameters of the RGB module and the Depth module to realize the spatial calibration of the RGB-D module. Specifically, the internal parameters and the external parameters preliminarily calibrated in step S1 and corrected in step S2 are written into the RGB-D module, so as to complete the spatial calibration of the RGB-D module. And the corrected RGB-D module can directly use the written internal parameters and external parameters to fuse the RGB image shot by the RGB module and the Depth image shot by the Depth module during shooting, and displays the fused RGB-D image with Depth information for a user.
The utility model provides a calibration equipment of RGB-D module is the calibration method who realizes above-mentioned RGB-D module promptly.
As shown in fig. 2-4, the calibration apparatus for RGB-D module provided by the present invention comprises a fixture 100 for positioning the RGB-D module, at least 4 calibration modules 200, a host and a display end; the calibration equipment of the RGB-D module further comprises a driving mechanism for driving the clamp 100 and at least 4 calibration modules 200 to move relatively; the host computer obtains the positions of at least 4 calibration modules 200 and the shot images of the RGB-D modules so as to realize the calibration of the RGB-D modules; the display end is in communication connection with the host and displays the calibration information. More specifically:
the calibration apparatus for RGB-D module shown in fig. 2-4 has no display host and no display side. It can be understood that the host computer is used for completing calibration of the RGB-D module for the control fixture 100, the calibration module 200, and the like according to a preset process, and may be a PC or other control device; the display end is used for displaying the calibration process or the calibration result, and may be a display screen, or a simple indicator light capable of indicating the calibration state or the calibration result.
As shown in fig. 2 and 3, the calibration apparatus of the RGB-D module includes a bottom chassis 300 and a movable frame 400 that is movable up and down with respect to the bottom chassis 300; the fixture 100 is disposed on the upper side of the bottom frame 300, and at least 4 calibration modules 200 are disposed on the lower side of the movable frame 400 and driven by the movable frame 400 to move up and down relative to the fixture 100.
In this embodiment, as shown in fig. 2, the calibration apparatus for RGB-D module further includes a housing 500, wherein the bottom chassis 300 and the movable chassis 400 are disposed in the housing 500; the side of the housing 500 is provided with a pick-and-place opening 510 for picking and placing the RGB-D module. The arrangement of the housing 500 can reduce the external interference and improve the calibration accuracy in the calibration process of the RGB-D module.
In the calibration method for the RGB-D module, the RGB-D module is required to capture images of the calibration module 200 at different angular positions during the calibration process. Therefore, the utility model provides an among the calibration equipment of RGB-D module, still include the actuating mechanism that is used for driving anchor clamps 100 and marks the removal of module 200. The driving mechanism specifically includes a first power mechanism 110 for driving the clamp 100 to move, and a second power mechanism 210 for driving at least 4 calibration modules 200 to move.
As shown in fig. 3 and 4, in the present embodiment, the first power mechanism 110 includes two clamping cylinders for driving the clamp 100 to move. The two clamping cylinders act to drive the clamp 100 to clamp the RGB-D module to be tested, so as to realize the positioning of the RGB-D module.
Further, the utility model provides an among the calibration equipment of RGB-D module, at least three module 200 of maring can be followed XY direction and rotated at certain angle within range. Specifically, as shown in fig. 3 and 4, the second power mechanism 210 for driving at least 4 calibration modules 200 to move includes a vertical driving unit 211 for driving the movable frame 400 to move up and down relative to the bottom frame 300, and rotation driving units 212 for driving a corresponding calibration module 200 to rotate in the plane direction, respectively. The vertical driving unit 211 drives the movable frame 400 to move up and down relative to the base frame 300 and drives at least 4 calibration modules 200 to move up and down simultaneously, and the vertical driving unit 211 can be a linear driving cylinder or a motor; the number of the rotation driving units 212 is at least 3, and each rotation driving unit 212 drives a corresponding calibration module 200 to rotate in the plane direction by taking the vertical shaft as the center.
Preferably, the calibration apparatus for RGB-D module further comprises a pick-and-place frame (not shown) for picking and placing the RGB-D module, wherein the pick-and-place frame moves between the pick-and-place opening 510 and the fixture 100 to pick up the RGB-D module from the pick-and-place opening 510 and move the RGB-D module to the fixture 100, or pick up the RGB-D module from the fixture 100 and move the RGB-D module to the pick-and-place opening 510. After the pick-and-place frame is arranged, the RGB-D module to be calibrated can be placed at the pick-and-place frame or the calibrated RGB-D module can be taken away from the pick-and-place frame when the pick-and-place frame moves to the pick-and-place opening 510.
Compared with the prior art, the utility model provides a including 4 at least mark modules 200 in the calibration equipment of RGB-D module, mark module 200 relative anchor clamps 100 removal through 4 at least drive of actuating mechanism drive to make by the waiting of 100 centre grippings of anchor clamps calibration RGB-D module can acquire the image that accords with the calibration requirement, with the calibration method who realizes aforementioned RGB-D module, and then improve the calibration accuracy of RGB-D module, and then optimize the shooting effect of RGB-D camera.
With reference to fig. 1-5, the flow of the calibration method for implementing the RGB-D module according to the calibration apparatus for RGB-D module provided by the present invention is described in detail:
as shown in fig. 5, the calibration process specifically includes the steps of: a1, placing the RGB-D module into the fixture 100 for positioning, and connecting the RGB-D module with the host in a communication way; a2, the host computer controls the clamp 100 to move so as to drive the RGB-D module to move to the detection station; a3, the host computer controls at least 4 calibration modules 200 to move relative to the RGB-D module, and the RGB-D module shoots to complete the parameter correction of the RGB-D module; a4, writing the calibration result into the RGB-D module; a5, the host computer controls a first power mechanism to drive the clamp 100 to drive the RGB-D module to exit the detection station; a6, disconnecting the communication connection between the RGB-D module and the host and taking away the RGB-D module.
Wherein, the step a3 specifically includes: a31, the host controls the RGB-D module to shoot RGB images and Depth images and transmits the RGB images and Depth images back to the host to calibrate the internal parameters and external parameters of the RGB-D module; a32, the host controls the RGB-D module to shoot RGB-D image and transmits the RGB-D image back to the host, judges whether the RGB module and Depth module are aligned, if not, the RGB-D module is corrected; a33, the host controls the RGB-D module to shoot the RGB-D image again and transmits the RGB-D image back to the host until the RGB module is aligned with the Depth module, and the final internal parameters and external parameters of the RGB-D module are obtained.
For step a 1: placing the RGB-D module into the fixture 100 for positioning, and connecting the RGB-D module with a host in a communication way; specifically, the RGB-D module is placed in the fixture 100 for positioning, and the RGB-D module is communicatively connected to the host through a bluetooth or communication connection line. In actual work, step a1 is mainly implemented based on the operation of an operator.
After the operation of step a1 is completed, and the RGB-D module is placed in the fixture 100 and is communicatively connected to the host, the steps a 2-a 5 are mainly automatically implemented under the control of the host, and the specific calculation process is described in the above-mentioned contents of the calibration method for the RGB-D module. Only in step a32, the "determination of whether the RGB module and the Depth module are aligned" may be performed by an operator visually according to the RGB-D image, or by comparing a calibration program loaded in the host with a standard image without manual work, to determine the imaging effect of the RGB-D image and whether the parameters of the RGB-D module need to be calibrated.
It can be understood that the RGB-D module may be a camera module integrated in the mobile communication terminal and having a depth information capturing function. During calibration, the camera module may be calibrated as needed, or the camera module integrated in the mobile communication terminal may be calibrated after the mobile communication terminal is completed.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, therefore, the invention is not limited thereto.

Claims (8)

1. The calibration equipment of the RGB-D module is characterized by comprising a clamp for positioning the RGB-D module, at least 4 calibration modules, a host and a display end; the calibration equipment of the RGB-D module further comprises a driving mechanism for driving the clamp and at least 4 calibration modules to move relatively; the host acquires the positions of at least 4 calibration modules and shot images of the RGB-D modules so as to realize calibration of the RGB-D modules; and the display end is in communication connection with the host and displays the calibration information.
2. The calibration apparatus for RGB-D module as claimed in claim 1, wherein at least three of said calibration modules are rotatable within a certain angle range in XY directions.
3. The calibration apparatus for RGB-D module as claimed in claim 1, wherein the driving mechanism includes a first power mechanism for driving the fixture to move, and a second power mechanism for driving at least 4 of the calibration modules to move.
4. The calibration apparatus for an RGB-D module according to any one of claims 1 to 3, wherein the calibration apparatus for an RGB-D module comprises a base frame and a movable frame that is movable up and down with respect to the base frame; the anchor clamps set up in the upside of chassis, at least 4 mark the module set up in the downside of adjustable shelf and under the drive of adjustable shelf can relatively anchor clamps reciprocate.
5. The apparatus for calibrating an RGB-D module according to claim 4, wherein the second actuating mechanism for driving at least 4 of the calibration modules to move comprises a vertical driving unit for driving the movable frame to move up and down relative to the bottom frame, and a rotation driving unit for driving a corresponding one of the calibration modules to rotate in the plane direction.
6. The calibration apparatus for an RGB-D module according to claim 4, wherein the calibration apparatus for an RGB-D module further comprises a housing, the bottom chassis and the movable chassis being disposed in the housing; and a taking and placing port for taking and placing the RGB-D module is formed in the side surface of the shell.
7. The apparatus for calibrating an RGB-D module according to claim 6, further comprising a pick-and-place frame for picking and placing the RGB-D module, wherein the pick-and-place frame moves between the pick-and-place opening and the jig so as to pick up the RGB-D module from the pick-and-place opening and move the RGB-D module to the jig, or pick up the RGB-D module from the jig and move the RGB-D module to the pick-and-place opening.
8. The calibration apparatus for RGB-D module according to claim 1, wherein the RGB-D module is a mobile communication terminal having a photographing function.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110599550A (en) * 2019-09-09 2019-12-20 香港光云科技有限公司 Calibration system of RGB-D module and equipment and method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110599550A (en) * 2019-09-09 2019-12-20 香港光云科技有限公司 Calibration system of RGB-D module and equipment and method thereof

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